/*
 * wallfollow.h
 *
 *  Created on: Oct 22, 2012
 *      Author: robot
 */
#ifndef WALLFOLLOW_H_
#define WALLFOLLOW_H_


#include "ros/ros.h"
#include <behavior/behavior.h>
#include <sensor/IR.h>
#include <driver/Move.h>
#include <cmath>

class Wallfollow : public Behavior
{
public:
					Wallfollow 			(ros::NodeHandle n);
	bool 			act 				(ros::Publisher publisher);
	void 			distance_callback 	(const sensor::IR::ConstPtr & msg);
private:
	ros::NodeHandle nodeHandle;
	ros::Subscriber	subscriber;
	float 			leftFront,
					leftBack,
					rightFront,
					rightBack,
					left,
					right;
};


#endif /* WALLFOLLOW_H_ */
